An overview of control problem in underwater robotics is presented. Underwater robots can be used to accomplish missions such as sea bottom and pipeline survey, cable maintenance, and off-shore structures' monitoring and maintenance. The actuating system is usually composed of thrusters and control surfaces, both of them have a non-linear dynamics and are strongly affected by the hydrodynamic effects. It is suggested that the sensory system of the vehicle must deal with a noisy and unstructured environment.
Open control problems in underwater robotics
Offene Regelungsprobleme bei Unterwasserrobotern
2004
11 Seiten, 73 Quellen
Aufsatz (Konferenz)
Englisch
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